针对轮毂电机驱动汽车(hub motor driven vehicle，HMDV)因开关磁阻电机自重和电机气隙偏心导致产生的垂向振动负效应严重恶化车辆的平顺性和操稳性的问题，提出一种基于分数阶滑模控制的HMDV可控动惯性悬架优化设计方法。首先，在轮毂驱动电机气隙偏心产生的不平衡径向力基础上，建立HMDV 1/4混棚动惯性悬架，理论证明二阶混棚正实网络的优异性能;其次，采用HMDV二阶混棚正实网络作为参考模型，构建基于分数阶滑模控制理论的HMDV协调控制系统，在随机路面下进行平顺性仿真和分析;最后，进行HMDV 1/4悬架台架试验。试验结果表明，HMDV可控动惯性悬架与HMDV传统被动悬架相比，车身加速度均方根值、悬架动行程均方根值以及轮胎动载荷均方根值最大降幅分别为7。72％、30。64％以及11。54％。验证了所设计的HMDV可控动惯性悬架对于由开关磁阻电机造成的垂向振动负效应有优异的抑制性能。
Optimization design and fractional order sliding mode control of HMDV controllable dynamic inertial suspension
Here,aiming at the problem of serious deterioration of vehicle smoothness and handling stability caused by vertical vibration negative effect due to self-weight of switched reluctance motor and eccentricity of motor air gap,a fractional order sliding mode control-based optimization design method for controllable dynamic inertia suspension of hub motor driven vehicle(HMDV)was proposed.Firstly,based on the unbalanced radial force generated by air gap eccentricity in hub-driven motor,a HMDV quarter hybrid-hook dynamic inertial suspension was established,and excellent performance of the second-order hybrid-hook positive real network was theoretically proved.Furthermore,taking the HMDV second-order hybrid-hook positive real network as a reference model,a coordinated control system for HMDV based on fractional order sliding mode control theory was constructed,and smoothness simulation and analysis were performed on random road surfaces.Finally,HMDV quarter suspension bench tests were conducted.The test results showed that compared with HMDV traditional passive suspension,root mean square(RMS)value of body acceleration,RMS value of suspension dynamic travel length and RMS value of tire dynamic load for HMDV controllable dynamic inertia suspension decrease by 7.72％,30.64％and 11.54％,respectively;the designed HMDV controllable dynamic inertia suspension having excellent suppression performance against vertical vibration negative effect caused by switched reluctance motor is verified.
hub motor driven vehicle(HMDV)dynamic inertial suspensionhybrid-hookfractional order sliding mode
万方数据
维普
